Treatment of material creep and nonlinearities in flexible multibody dynamics

Abstract

This paper addresses the modeling of the generalized active forces resulting from deformable bodies when subjected to high temperature conditions, elastic-plastic deformations, creep effects, and material nonlinearities. The effects of elastic-plastic deformations are studied making use of the nonlinear stress-strain relationship and the geometrical stiffness concepts. Creep conditions resulting from high temperature are studied through several proposed models. Materials nonlinearities for isotropic and composites are accounted for by their tangential elasticity matrix. A general procedure used in the study of multibody systems dynamics with elastic-plastic bodies depicting the characteristics mentioned is developed. This includes an explicit formulation of the equations of motion using Kane`s equations, finite element method, continuum mechanics, and modal coordinate reduction techniques. A numerical simulation of a flexible robotic arm with a prescribed angular velocity subject to high temperature conditions is analyzed. The effects of creep are discussed.